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graspnet / graspnet-baseline

Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)
https://graspnet.net/
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What's the usage of the function "process_grasp_labels" in the "label_generation.py" file ? #102

Closed Cwyxx closed 8 months ago

Cwyxx commented 8 months ago

I am baffled about it, can you explain it specifically? Thank you very much! @chenxi-wang @Fang-Haoshu @colin-zgf

chenxi-wang commented 8 months ago

There is no one-to-one match between the predictions and pre-generated grasp labels. So we use this function to sample and assign the nearest label to each prediction by computing the point distances and rotation errors.

Cwyxx commented 8 months ago

Thank you very much!